Introduction This documentation provides information on operation and operator control, and provides assistance with troubleshooting. For further assistance, please contact your local KUKA subsidiary.
Information The following information is required for processing a support request:
Description of the problem, including information about the duration and frequency of the fault
As comprehensive information as possible about the hardware and soft-ware components of the overall system
The following list gives an indication of the information which is relevant in many cases:
Model and serial number of the kinematic system, e.g. the manipulator
Model and serial number of the controller
Model and serial number of the energy supply system
Designation and version of the system software
Designations and versions of other software components or modifica-tions
Diagnostic package KRCDiag
Additionally for KUKA Sunrise: Existing projects including applications For versions of KUKA System Software older than V8: Archive of the software (KRCDiag is not yet available here.)
Application used
External axes used 9.2 KUKA Customer Support
Availability KUKA Customer Support is available in many countries. Please do not hesi-tate to contact us if you have any questions.
Argentina Ruben Costantini S.A. (Agency) Luis Angel Huergo 13 20 Parque Industrial
2400 San Francisco (CBA) Argentina
Tel. +54 3564 421033 Fax +54 3564 428877 ventas@costantini-sa.com
Australia KUKA Robotics Australia Pty Ltd 45 Fennell Street
Port Melbourne VIC 3207 Australia
Belgium KUKA Automatisering + Robots N.V.
Centrum Zuid 1031 3530 Houthalen Belgium
Tel. +32 11 516160 Fax +32 11 526794 info@kuka.be www.kuka.be
Brazil KUKA Roboter do Brasil Ltda.
Travessa Claudio Armando, nº 171 Bloco 5 - Galpões 51/52
Bairro Assunção
CEP 09861-7630 São Bernardo do Campo - SP Brazil
Tel. +55 11 4942-8299 Fax +55 11 2201-7883 info@kuka-roboter.com.br www.kuka-roboter.com.br
Chile Robotec S.A. (Agency) Santiago de Chile Chile
Tel. +56 2 331-5951 Fax +56 2 331-5952 robotec@robotec.cl www.robotec.cl
China KUKA Robotics China Co., Ltd.
No. 889 Kungang Road Xiaokunshan Town Songjiang District 201614 Shanghai P. R. China
Tel. +86 21 5707 2688 Fax +86 21 5707 2603 info@kuka-robotics.cn www.kuka-robotics.com
Germany KUKA Roboter GmbH
Zugspitzstr. 140 86165 Augsburg Germany
Tel. +49 821 797-1926 Fax +49 821 797-41 1926 Hotline.robotics.de@kuka.com www.kuka-roboter.de
France KUKA Automatisme + Robotique SAS Techvallée
6, Avenue du Parc 91140 Villebon S/Yvette France
Tel. +33 1 6931660-0 Fax +33 1 6931660-1 commercial@kuka.fr www.kuka.fr
India KUKA Robotics India Pvt. Ltd.
Office Number-7, German Centre, Level 12, Building No. - 9B DLF Cyber City Phase III 122 002 Gurgaon Haryana
India
Tel. +91 124 4635774 Fax +91 124 4635773 info@kuka.in
www.kuka.in
Italy KUKA Roboter Italia S.p.A.
Via Pavia 9/a - int.6 10098 Rivoli (TO) Italy
Tel. +39 011 959-5013 Fax +39 011 959-5141 kuka@kuka.it
www.kuka.it
Japan KUKA Robotics Japan K.K.
YBP Technical Center
Canada KUKA Robotics Canada Ltd.
6710 Maritz Drive - Unit 4 Mississauga
L5W 0A1 Ontario Canada
Tel. +1 905 670-8600 Fax +1 905 670-8604 info@kukarobotics.com
www.kuka-robotics.com/canada
Korea KUKA Robotics Korea Co. Ltd.
RIT Center 306, Gyeonggi Technopark 1271-11 Sa 3-dong, Sangnok-gu Ansan City, Gyeonggi Do 426-901
Korea
Tel. +82 31 501-1451 Fax +82 31 501-1461 info@kukakorea.com
Malaysia KUKA Robot Automation (M) Sdn Bhd South East Asia Regional Office No. 7, Jalan TPP 6/6
Taman Perindustrian Puchong 47100 Puchong
Selangor Malaysia
Tel. +60 (03) 8063-1792 Fax +60 (03) 8060-7386 info@kuka.com.my
Mexico KUKA de México S. de R.L. de C.V.
Progreso #8
Col. Centro Industrial Puente de Vigas Tlalnepantla de Baz
54020 Estado de México Mexico
Tel. +52 55 5203-8407 Fax +52 55 5203-8148 info@kuka.com.mx
www.kuka-robotics.com/mexico
Norway KUKA Sveiseanlegg + Roboter Sentrumsvegen 5
Austria KUKA Roboter CEE GmbH
Gruberstraße 2-4
Poland KUKA Roboter Austria GmbH
Spółka z ograniczoną odpowiedzialnością Oddział w Polsce
Portugal KUKA Robots IBÉRICA, S.A.
Rua do Alto da Guerra n° 50 Armazém 04
2910 011 Setúbal Portugal
Tel. +351 265 729 780 Fax +351 265 729 782 info.portugal@kukapt.com www.kuka.com
Russia KUKA Robotics RUS
Werbnaja ul. 8A 107143 Moskau Russia
Tel. +7 495 781-31-20 Fax +7 495 781-31-19 info@kuka-robotics.ru www.kuka-robotics.ru
Sweden KUKA Svetsanläggningar + Robotar AB A. Odhners gata 15
421 30 Västra Frölunda Sweden
Tel. +46 31 7266-200 Fax +46 31 7266-201 info@kuka.se
Switzerland KUKA Roboter Schweiz AG Industriestr. 9
5432 Neuenhof Switzerland
Tel. +41 44 74490-90 Fax +41 44 74490-91 info@kuka-roboter.ch www.kuka-roboter.ch
Spain KUKA Robots IBÉRICA, S.A.
Pol. Industrial Torrent de la Pastera Carrer del Bages s/n
08800 Vilanova i la Geltrú (Barcelona) Spain
Tel. +34 93 8142-353 Fax +34 93 8142-950 comercial@kukarob.es www.kuka.es
South Africa Jendamark Automation LTD (Agency) 76a York Road
Taiwan KUKA Robot Automation Taiwan Co., Ltd.
No. 249 Pujong Road
Jungli City, Taoyuan County 320 Taiwan, R. O. C.
Tel. +886 3 4331988 Fax +886 3 4331948 info@kuka.com.tw www.kuka.com.tw
Thailand KUKA Robot Automation (M)SdnBhd Thailand Office
c/o Maccall System Co. Ltd.
49/9-10 Soi Kingkaew 30 Kingkaew Road Tt. Rachatheva, A. Bangpli
Samutprakarn 10540 Thailand Tel. +66 2 7502737 Fax +66 2 6612355 atika@ji-net.com www.kuka-roboter.de
Czech Republic KUKA Roboter Austria GmbH
Organisation Tschechien und Slowakei Sezemická 2757/2
Hungary KUKA Robotics Hungaria Kft.
Fö út 140 2335 Taksony Hungary
Tel. +36 24 501609 Fax +36 24 477031 info@kuka-robotics.hu
USA KUKA Robotics Corporation
51870 Shelby Parkway Shelby Township 48315-1787 Michigan USA
Tel. +1 866 873-5852 Fax +1 866 329-5852 info@kukarobotics.com www.kukarobotics.com
UK KUKA Robotics UK Ltd
Great Western Street Wednesbury West Midlands WS10 7LL
UK
Tel. +44 121 505 9970 Fax +44 121 505 6589 service@kuka-robotics.co.uk www.kuka-robotics.co.uk
Index
Angle of rotation 78ANSI/RIA R.15.06-2012 123 Applied norms and regulations 122 Automatic mode 120
Axis data, KR 10 R1420 17 Axis data, KR 10 R1420 HP 46 Axis data, KR 6 R1820 36 Axis data, KR 6 R1820 HP 66 Axis data, KR 8 R1620 26 Axis data, KR 8 R1620 HP 56 Axis range 113
Axis range limitation 115 Axis range monitoring 115 B
Base frame 12, 14
Basic data, KR 10 R1420 16 Basic data, KR 10 R1420 HP 45 Basic data, KR 6 R1820 35 Basic data, KR 6 R1820 HP 65 Basic data, KR 8 R1620 25 Basic data, KR 8 R1620 HP 55 Brake defect 117
Brake release device 116 Braking distance 113 C
CE mark 112
Center of gravity 25, 35, 45, 55, 65, 75, 137 Cleaning work 121
Connecting cables 11, 16, 26, 36, 46, 56, 66, 111, 129
Connecting cables, cable lengths 16, 26, 36, 46, 56, 66
Counterbalancing system 121 D
Danger zone 113
Declaration of conformity 112
Declaration of incorporation 111, 112 Decommissioning 122
Description of the robot system 11
Dimensions, transport 24, 35, 44, 54, 65, 74, 137 Disposal 122
Documentation, industrial robot 7 E
EC declaration of conformity 112 Electrical installations 12, 14
Electromagnetic compatibility (EMC) 123 EMC Directive 112, 122
EN 60204-1 + A1 123 EN 61000-6-2 123 EN 61000-6-4 + A1 123 EN 614-1 + A1 123 EN ISO 10218-1 123 EN ISO 12100 123 EN ISO 13849-1 123 EN ISO 13849-2 123 EN ISO 13850 123 Extension 78
External axes 111, 113 F
Faults 118 Function test 119 G
General information 78 General safety measures 117 H
Integrated energy supply system 14 Intended use 112
Interface, energy supply systems 130 Interfaces 129
Introduction 7 K
KCP 11, 79, 113, 117 Keyboard, external 117 KUKA Customer Support 143 KUKA smartPAD 11, 113 L
Loads acting on the mounting base 23, 33, 43, 53, 63, 73
Loads acting on the mounting base, KR 10 R1420 23
Loads acting on the mounting base, KR 10 R1420 HP 53
Loads acting on the mounting base, KR 6 R1820 43
Loads acting on the mounting base, KR 6 R1820 HP 73
Loads acting on the mounting base, KR 8 R1620
33
Loads acting on the mounting base, KR 8 R1620 HP 63
Low Voltage Directive 112 M
Machine frame mounting with centering 127 Machinery Directive 112, 122
main axes 78 Maintenance 120
Manipulator 11, 111, 113 Manual mode 119
Mechanical axis range limitation 115 Mechanical end stops 115
Minimum bending radius 17, 26, 36, 46, 56, 66 Mounting base with centering 125
Mounting flange 13, 21, 31, 41, 51, 61, 71 Mouse, external 117
O
Operator 113, 114 Options 11, 14, 111, 141 Overload 117
P
Payload diagram 20, 30, 40, 50, 60, 70 Payloads, KR 10 R1420 19
Payloads, KR 10 R1420 HP 49 Payloads, KR 6 R1820 39 Payloads, KR 6 R1820 HP 69 Payloads, KR 8 R1620 29 Payloads, KR 8 R1620 HP 59 Personnel 113
Planning 125 Plant integrator 113 Plates and labels 75 Positioner 111
Pressure Equipment Directive 121, 122 Preventive maintenance work 121 Principal components 12
Product description 11
Program override, motion velocity 78 Protective circuit 14
Protective equipment, overview 115 Purpose 9
R
Reaction distance 113 Recommissioning 118 Release device 116 Release device, option 141 Repair 120
Robot controller 11, 111 Robot system 11 Rotating column 12, 13 S
Safety 111
Safety instructions 7 Safety of machinery 123 Safety zone 113, 114
Safety, general 111 Service life 113
Service, KUKA Roboter GmbH 143 smartPAD 79, 113, 117
Software 11, 111 Start-up 118 STOP 0 78, 113 STOP 1 78, 113 STOP 2 113
Stop category 0 113 Stop category 1 113 Stop category 2 113 Stop signal 78
Stopping distance 78, 113
Stopping distances 78, 79, 85, 90, 95, 100, 105 Stopping time 78
Stopping times 78, 79, 85, 90, 95, 100, 105 Storage 122
Supplementary load 22, 32, 42, 52, 62, 72 Support request 143
System integrator 112, 113, 114 T
T1 113 T2 113
Teach pendant 11, 111 Technical data 15
Technical data, KR 10 R1420 16 Technical data, KR 10 R1420 HP 45 Technical data, KR 6 R1820 35 Technical data, KR 6 R1820 HP 65 Technical data, KR 8 R1620 25 Technical data, KR 8 R1620 HP 55 Technical data, overview 15 Terms used 78
Terms used, safety 113 Training 9
Transport dimensions, KR 10 R1420 24 Transport dimensions, KR 10 R1420 HP 54 Transport dimensions, KR 6 R1820 44 Transport dimensions, KR 6 R1820 HP 74 Transport dimensions, KR 8 R1620 35 Transport dimensions, KR 8 R1620 HP 65 Transport position 137
Transportation 118, 137 Turn-tilt table 111 U
Use, contrary to intended use 111 Use, improper 111
User 113, 114 Users 9 W
Warnings 7
Working range limitation 115 Workspace 113, 114